High-level synthesis (hls) method and apparatus to specify pipeline and spatial parallelism in computer hardware

ABSTRACT

A computer-implemented method for synthesizing a digital circuit is disclosed. The method includes receiving producer instructions defining a producer processing thread; generating a producer register-transfer level (RTL) description of the producer processing thread; receiving consumer instructions defining a consumer processing thread; generating a consumer RTL description of the consumer processing thread; and automatically inferring generation of streaming hardware RTL in response to receiving the producer and consumer instructions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation that claims priority to U.S.application Ser. No. 15/977,874, filed May 11, 2018, entitled HIGH-LEVELSYNTHESIS (HLS) METHOD AND APPARATUS TO SPECIFY PIPELINE AND SPATIALPARALLELISM IN COMPUTER HARDWARE, which is a Non-Provisional that claimspriority to U.S. Provisional Application No. 62/506,461, filed May 15,2017, entitled SOFTWARE-BASED METHODOLOGY TO SPECIFY PIPELINE ANDSPATIAL PARALLELISM IN COMPUTER HARDWARE, all of which are incorporatedherein by reference in their entirety.

TECHNICAL FIELD

The disclosure herein relates to electronic design automation (EDA)tools. More particularly, the disclosed embodiments relate to methods,systems, and user interfaces for implementing high-level synthesis (HLS)in a digital design flow.

BACKGROUND

Electronic design automation (EDA) tools are often used to generate adetailed design of a semiconductor circuit. Computer-implemented toolssuch as computer-aided design (CAD) tools are often used to carry outthe design flow. Many of the operations may be implemented as softwarerunning on computer servers and/or workstations.

A typical digital design flow may involve generating a systemspecification that provides design parameters for the semiconductorcircuit to one or more of the EDA tools. A circuit implementing thesystem specification may then be generated manually or automatically(such as by using ready-made IP functions). In conventional designflows, the circuit may be entered by a hardware description language(such as Verilog, VHDL, or any other hardware description language(HDL)). The HDL is described in register transfer level (RTL), whichspecifies the flow of digital signals and hardware logic betweenhardware registers. In a logic synthesis operation, an abstract form ofdesired circuit behavior (typically a register transfer level (RTL)description or behavioral description) is turned into a designimplementation in terms of logic gates. In a verification operation, thenetlist output by the logic synthesis operation is verified forfunctionality against the circuit design specification. A physicalimplementation of the netlist may then be performed, including ananalysis to verify functionality, timing and performance acrosspredetermined or user-specified ranges of process, voltage, andtemperature parameters. While beneficial for integrated circuit design,using HDL to specify hardware circuitry typically involves a relativelylow-level of abstraction, such that the designer often needs to employsignificant hardware design skills.

Recently, software-based design tools have been developed to enablesoftware programmers to specify untimed programming code, such as C++,to generate production-quality RTL code. The software-based designtools, known as high-level synthesis (HLS) tools, allow a designer towork more productively at a higher level of design abstraction. Further,since hardware is automatically synthesized from the HLS software,designers with little to no “hardware” design skills may still carry outa design flow.

While conventional HLS tools are beneficial in enabling softwareprogrammers to design integrated circuit devices with minimal hardwaredesign skills, the usability of existing HLS tools has room forimprovement. Accordingly, what is needed are methods, systems andassociated apparatus that improve the usability of HLS in a digitaldesign flow.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the disclosure are illustrated by way of example, and notby way of limitation, in the figures of the accompanying drawings and inwhich like reference numerals refer to similar elements and in which:

FIG. 1 illustrates one embodiment of an electronic design automation(EDA) system.

FIG. 2 illustrates one high-level embodiment of a high-level synthesis(HLS) compiler.

FIG. 3 illustrates one embodiment of first-in-first-out (FIFO)interfaces that correspond to a producer-consumer pattern.

FIG. 4A illustrates multiple streaming modules that employ the FIFOinterfaces of FIG. 3.

FIG. 4B illustrates multiple replicated versions of the streamingmodules of FIG. 4A.

FIG. 4C illustrates one embodiment of the FIFO interfaces of FIG. 3employed in a “one-to-many” configuration.

FIG. 4D illustrates one embodiment of the FIFO interfaces of FIG. 3employed in a “many-to-one” configuration.

FIG. 5 illustrates one embodiment of a streaming circuit data-path andassociated stall logic for the FIFO interfaces of FIG. 3.

FIG. 6A illustrates a system diagram for one example of a system thatemploys hardware modules in a pipelined configuration.

FIG. 6B illustrates a system diagram similar to that of FIG. 6A, thatemploys hardware modules in a pipelined and replicated configuration.

FIG. 7A illustrates a system diagram similar to FIG. 6A, for anothersystem that employs hardware modules in a pipelined configuration.

FIG. 7B illustrates a system diagram similar to that of FIG. 6B, thatemploys hardware modules in a pipelined and replicated configuration.

DETAILED DESCRIPTION

Embodiments of a computer-implemented method for the synthesis of adigital design are disclosed. The method includes receiving producerinstructions defining a producer processing thread; generating aproducer register-transfer level (RTL) description of the producerprocessing thread; receiving consumer instructions defining a consumerprocessing thread; generating a consumer RTL description of the consumerprocessing thread; and automatically inferring generation of streaminghardware RTL in response to receiving the producer and consumerinstructions.

FIG. 1 illustrates one embodiment of an electronic design automationsystem (e.g., a server, a workstation, or other computer system),generally designated 100, that may be used to generate a detailed designof a digital system embodied as a semiconductor circuit. The system 100may include one or more processors 102 for executing modules, programsand/or instructions stored in a memory 104. The system 100 may alsoinclude a display 106 that may be local or remote from the system. Oneor more communication busses 105 couples the processors to the memory.For some embodiments, the memory 104 may include high-speed main memoryin the form of DRAM and may also include bulk memory in the form of oneor more magnetic or optical disk-storage devices or solid state storagedevices, or network access to cloud storage located remotely from theprocessors.

With continued reference to FIG. 1, the memory 104, or alternativelymemory device(s) within the memory 104, comprises a computer-readablestorage medium. In some embodiments, the memory 104 stores a variety ofprograms, modules and data structures, or a subset or superset thereof.An operating system 108 includes procedures for handling various basicsystem services and for performing hardware-dependent tasks. A networkcommunications module (or instructions) 110 may be used for connectingthe system 100 to other computers via a communication interface (notshown) and one or more communications networks, such as the Internet,other wide area networks, metropolitan area networks, and local areanetworks. An application or program 114 controls the operation andfunction of the system.

For some embodiments, and further referring to FIG. 1, the applicationor program 114 may include or have access to one or more programs,modules, or a subset or superset thereof. For example, a specificationsmodule may be included that defines a software model of the circuit tobe designed at 116. A module to perform a software simulation of thesoftware model may also be included, at 120. Respective high-levelsynthesis (HLS), hardware simulation, and place-and-route modules 122,124 and 126, are also provided to carry out high-level synthesis,hardware simulation, and place-and-route operations. Further detailregarding embodiments of the HLS program 122 is provided below.

FIG. 2 illustrates one embodiment of an HLS compiler, generallydesignated 200, for use with the HLS program 122 of FIG. 1. The HLScompiler includes a program compiler module 202 that may take the formof software compiler, such as LLVM, that reads in C/C++ code to generatean intermediate representation (an LLVM internal representation of theprogram). The output of the program compiler module 202 is fed to anallocation module 204.

The allocation module 204 reads in the LLVM intermediate representationalong with target hardware information from a target hardwarecharacterization module 206 and user constraints information from a userconstraints module 208. The target hardware characterization module 206includes a database with information associated with various integratedcircuits, such as field-programmable gate arrays (FPGA). The databasecontains various delay and circuit area parameters for each type ofoperation (such as add, subtract, multiply, etc.) for a particular FPGA.The user constraints module may provide information such as a targetclock frequency given by a user, and may also provide additional circuitarea constraints. The allocation module 204 determines how manyfunctional hardware units, such as adders, multipliers, memories, etc.,based on the inputs from the program compiler 202, the target hardwarecharacterization module 206 and the user constraints module 208.

Further referring to FIG. 2, a scheduler 210 schedules each operation ofthe program into specific clock cycles. It looks at the datadependencies of the program, such as the output of an addition stepincorporated into a multiplication step, to determine which operationsoccur serially or in parallel. The scheduler also looks at theuser-provided target frequency and operational latency from the targethardware characterization module to determine register locations, andthe extent of any pipelining stages. For some embodiments, the registerlocations and number of pipelining stages may be based on the targetclock frequency.

With continued reference to FIG. 2, a binding module 212 binds thescheduled operations to functional hardware units considering theirphysical aspects. For example, a memory on an FPGA may have two portswhere a pair of memory accesses can occur in parallel. For such asituation, the binder module may bind one memory operation to a firstport, and another memory operation to a second port so they may takeplace concurrently. An RTL generation module 214 receives the outputfrom the binding module 212 and generates RTL that may be fed to an FPGAsynthesis tool 216 (such as Intel Quartus). The FPGA synthesis tool maythen generate an FPGA bitstream, at 218, to be programmed onto an FPGA,at 220.

The HLS usability by software engineers can be improved by providingmechanisms within HLS that permit widely used software techniques to be“re-purposed” to control HLS tool behavior, thereby affecting thegenerated hardware. In multi-threaded parallel software programming, apopular development pattern is the producer-consumer pattern, whereinconcurrently operating threads receive (consume) “work to do” from otherthreads and generate (produce) results that are then consumed by otherthreads. In a typical producer/consumer implementation, queues/buffersare used between the threads as staging areas for work items that havebeen produced but not yet consumed.

There exists an analogy between the producer/consumer pattern inmulti-threaded software and streaming kernels in hardware, i.e. hardwaremodules interconnected by FIFO buffers that process their inputs in apipelined manner and deposit results into output FIFOs. Streaminghardware is popular in applications such as audio/video processing.Commercial HLS tools, such as Xilinx Vivado HLS, support thespecification of streaming via special vendor-specific pragmas embeddedin the source. Conversely, the computer-implemented method disclosedherein automatically infers streaming hardware behavior by synthesizinginstances of the producer-consumer pattern in software, running asPthreads, into streaming hardware. This methodology allows streaminghardware to be specified using a well-known software methodology withsoftware execution behavior that closely aligns with the hardwarebehavior.

Each software thread is automatically synthesized into a streaminghardware module. FIFOs between the hardware modules are automaticallyinstantiated, corresponding to the work-queue buffers in theproducer/consumer pattern. Exploiting the spatial parallelism availablein a large FPGA (such as Xilinx UtraScale) or in some other hardwareimplementation becomes a matter of forking multiple threads. Thedescribed approach brings the added benefit that the multi-threaded codecan be executed in parallel fashion in both software and hardware.Debugging and visualization can be done in software—software whoseparallel execution matches closely with the parallel hardware execution.

From a software perspective, the producer-consumer programming patterncomprises a finite-size buffer and two classes of threads, a producerand a consumer. The producer stores data into the buffer and theconsumer takes data from the buffer to process. This decouples theproducer from the consumer, allowing them to naturally run at differentrates, if necessary. The producer must wait until the buffer has spacebefore it can store new data, and the consumer must wait until thebuffer is non-empty before it can take data. The waiting is usuallyrealized with the use of a software variable, semaphore. A semaphore isa POSIX standard, which allows processes and threads to synchronizetheir actions. It has an integer value, which must remain non-negative.To increment the value by one, the sem_post function is used, and todecrement the value by one, sem_wait function is called. If the value isalready zero, the sem_wait function will block the process, untilanother process increases the semaphore value with sem_post.

The pseudo-code below shows one example of a typical producer-consumerpattern using two threads:

producer_thread { while (1) { // produce something item = produce( ); //wait for an empty space sem_wait(numEmpty); // store item to bufferlock(mutex); write_to_buffer; unlock(mutex); // increment number of fullspots sem_post(numFull); } } consumer_thread { while (1) { // wait untilbuffer has data sem_wait(numFull); // get item from buffer lock(mutex);read_from_buffer; unlock(mutex); // increment number of empty spotssem_post(numEmpty); // consume data consume(item); } }

In a producer-consumer pattern, the independent producer and consumerthreads are continuously running, thus they contain infinite loops. Thebuffer is implemented as a circular array. Two semaphores are used, oneto keep track of the number of spots available in the buffer, andanother to keep track of the number of items in the buffer. Observe thatupdates to the buffer are within a critical section—i.e. a mutex is usedenforce mutual exclusion on changes to the buffer itself.

From a hardware perspective, the producer-consumer pattern can beapplied to describe streaming hardware. Streaming hardware is alwaysrunning, just as the producer-consumer threads shown above. Differentstreaming hardware modules execute concurrently and independently, aswith the producer-consumer threads. To create threads in software, onecan use Pthreads, which is a standard known and used by many softwareprogrammers. Inputs and outputs are typically passed between streamingmodules through FIFOs. The circular buffer described above isessentially a FIFO, with the producer writing to one end, and theconsumer reading from the other end.

The following is an example of a producer-consumer pattern, implementedusing Pthreads, where the streaming modules are connected through FIFOs.In this example, three threads are created, func_A, func_B, and func_C,however, only func_A is shown for clarity:

void *func_A(FIFO *in, FIFO *temp) { ... while (1) { // read from FIFOint a = fifo_read(in); // do work ... // output to FIFOfifo_write(temp); } } ... void top(FIFO *in, FIFO *out) { ...pthread_create(func_A, ...); pthread_create(func_B, ...);pthread_create(func_C, ...); ... } int main( ) { // declare and sizeFIFOs FIFO *in = fifo_malloc(/*width*/32, /*depth*/1); FIFO *out =fifo_malloc(/*width*/32, /*depth*/1); // invoke top-level functiontop(in, out); // fill up the input FIFO, as soon as the FIFO has data //the hardware executes for (i=0; i<SIZE; ++i) { fifo_write(in,in_array[i]); } // get output from the output FIFO for (i=0; i<SIZE;++i) { out_array[i] = fifo_read(out); } // free FIFOs fifo_free(in);fifo_free(out); ... }

Observe that the infinite loop in func_A keeps the loop body of thekernel function continuously running. We pipeline this loop, to create astreaming circuit. Pipelining allows multiple data items to be processedconcurrently using the same hardware unit, as opposed to having multiplecopies of the hardware unit to work on multiple data items, hencepipelining is a key optimization for creating an efficienthigh-performance circuit. The advantage of using loop pipelining, versuspipelining the entire function, is that there can also be parts of thefunction that are not streaming (only executed once), such as forperforming initializations. The top function, which is called only once,forks a separate thread for each of its sub-functions. The user does nothave to specify the number of times the functions are executed—thethreads automatically start executing when there is data in the inputFIFO. This closely matches the always running behavior of streaminghardware. In this example, each thread is both a consumer and aproducer. It consumes data from its previous stage and produces data forits next stage.

The FIFO functions provide users with a software API which can be usedto create streaming hardware in HLS. Fifo_malloc sizes the FIFOs insoftware to be the same as those in hardware. Fifo_write pushes datainto one end of a FIFO; previously stored data can be read from theother end with fifo_read. The fifo_read/write functions provide theblocking capability with the use of semaphores. This is described inmore detail below. Fifo_free frees any memory allocated by fifo_malloc.

The multi-threaded code above can be compiled, concurrently executed,and debugged using standard software tools. Such portability is animportant design consideration, and that a design should not be tied toa particular vendor, as is what happens when many vendor-specificpragmas are required to produce the desired hardware. The methoddisclosed maintains the software source code as a standard softwareprogram.

This section describes a FIFO and its associated functions in anexemplary embodiment. The FIFO is defined as a struct:

typedef struct { // bit-width of the elements stored in the FIFO intwidth; // the number of elements that can be stored int depth; // dataarray holding the elements long long *mem; // keeps track of where inthe array to write to unsigned writeIndex; // keeps track of where inthe array to read from unsigned readIndex; // keeps track of the numberof occupied spots sem_t numFull; // keeps track of the number of emptyspots sem_t numEmpty; // mutual exclusion for data array accesspthread_mutex_t mutex; } FIFO;

The elements of the struct are used to define the storage, itswidth/depth, and where to read/write from/to in the storage. The dataarray is used as a circular buffer to create the FIFO behavior. In thisexample, the storage type is a long long, making it capable of handlingthe largest standard C-language integer data type, though it can also beused to hold anything smaller. When compiled to hardware, the widthvariable is used to parametrize the hardware FIFO, which can be of anyarbitrary width. Semaphores are employed to create the producer-consumerbehavior between threads and a mutex is used to ensure atomic access tothe shared storage. When fifo_malloc is called, it allocates the dataarray and initializes all member variables, including the semaphores andthe mutex. Fifo_free frees all memories which have been allocated.

Using the struct, fifo_write follows the logic described in theproducer_thread of the pseudo-code shown in paragraph [0031], andfifo_read follows the logic of the consumer_thread. Fifo_write firstwaits until there is an empty spot in the FIFO (using sem_wait on thenumEmpty semaphore), then gets the lock, stores the data into thewriteIndex position of mem, updates writeIndex, releases the lock, andfinally increments numFull. Fifo_read waits until the FIFO is non-empty(using sem_wait on the numFull semaphore), gets the lock, reads the dataat the read Index position of mem, updates read Index, releases thelock, and finally increments numEmpty.

In hardware, a FIFO struct is synthesized into a hardware FIFO. FIG. 3illustrates hardware in the form of a FIFO 302 with respective write andread interfaces 304 and 306 coupled to respective producer and consumerstreaming modules 308 and 310. The FIFO interfaces 304, 306 andrespective producer “A” and consumer “B” streaming modules 308, 310 areautomatically inferred when invoking a producer-hardware pattern as aninput to the HLS compiler (200, FIG. 2). For each FIFO interface, thestreaming modules use RVD (Ready, Valid, Data) signals, which aretypical hand-shaking interface signals used in streaming architectures.The semaphores of the FIFO struct, which keep track of whether the FIFOis full/empty in software, are turned into the not_full and not_emptysignals in hardware, at 312 and 314. On a call to fifo_write for theproducer module 308, the not_full signal is checked, and if it is high,the data is written to the FIFO 302 via the write_data signal, at 316.If the not_full signal is low, meaning the FIFO is already full, theout_ready signal of the producer module 308 is de-asserted, at 318,which stalls the module. One specific embodiment of stall logic isdescribed more fully below in FIG. 5. For fifo_read from the consumermodule 310, the not_empty signal at 314 is checked, and if it is high,the data is returned via the read_data signal, at 320. If the not_emptysignal is low (FIFO is empty), the in_valid signal at 322 isde-asserted, which stalls the consumer module. This implementationremoves any additional hardware overhead from the semaphores/mutex,while allowing software to be executed like hardware.

In a streaming architecture, multiple streaming modules may be chainedtogether, transferring data from one streaming module to the next, asshown in FIG. 4A. The architecture utilizes modules A and Binterconnected via FIFO0, and a third module C connected to module Bthrough a pair of FIFOs FIFO1 and FIFO2 instantiated in parallel. Thisis a typical architecture used in image/video processing applications.In an example embodiment, the architecture shown in FIG. 4A can becreated by creating a thread for each of modules A, B, and C, asdescribed above, and passing in FIFO0 as an argument to A and B, andFIFO1 and FIFO2 to B and C. As per Pthread standards, multiple argumentsto a thread must be passed by creating a struct which contains all ofthe arguments, and then passing a pointer to that struct in thepthread_create ( ) routine. In one embodiment, a points-to compileranalysis is applied to automatically determine which FIFOs need to beconnected to which hardware modules. In one embodiment, the high-levelsynthesis tool automatically determines whether a module writes to theFIFO, or reads from the FIFO, and an integrated system generatorautomatically connects the appropriate input/output FIFO ports to theircorresponding streaming module ports.

With the producer-consumer threads, all processes, in both software andhardware, commence execution as early as possible (i.e. as soon as thereis data in the input FIFO). In one embodiment, all software source code,including the FIFO functions, can be compiled with a standard compiler,such as GCC, and debugged with a standard software-debugging tool, suchas GDB. That is, most design effort can be spent at the software stage.An advantage of using Pthreads is for ease of hardware parallelizationby replication. In embodiments described herein, each thread is mappedto a hardware instance, hence creating multiple threads of the samefunction creates replicated hardware instances. For instance, if theapplication shown in FIG. 4A is completely parallelizable (saydata-parallel), one can exploit spatial hardware parallelism by creatingtwo threads for each function, to create the architecture shown in FIG.4B, which includes two of the architectures of FIG. 4A in parallel. Thismethodology therefore allows exploiting both spatial (replication) andpipeline hardware parallelism, all from software.

For replication, other HLS tools require the hardware designer tomanually instantiate a synthesized core multiple times and make thenecessary connections in HDL. This is cumbersome for a hardware engineerand infeasible for a software engineer. More recently, HLS tools haveintroduced system generator tools, such as the Vivado IP Integrator,which uses a schematic-like block design entry, and allows a user tointerconnect hardware modules by drawing wires. This, also, is a foreignconcept in the software domain. The disclosed methodology uses purelysoftware concepts to automatically create and connect multiple parallelstreaming modules together.

The disclosed method is also able to handle more complex architectures,where multiple consumers represented by modules B, C and D receive datafrom a single producer, module A, through a single FIFO 402, as shown inFIG. 4C. Further, multiple producers, such as modules A, B and C canfeed data to a single consumer, such as module D, through a single FIFO404, as shown in FIG. 4D. The former architecture can be useful forapplications with a work queue, where a producer writes to the workqueue, and multiple workers (consumers), when ready, take work-itemsfrom the queue to process. The latter architecture can be used forapplications such as mapReduce, where multiple mappers can map to thesame reducer. Both architectures can be created from software by givingthe same FIFO argument to the different threads. Arbiters areautomatically synthesized to handle contention that may occur whenmultiple modules try to access the same FIFO in the same clockcycle—modules may stall if not given immediate access. Theconfigurability to have one-to-many, or many-to-one FIFO architectures,with automatic synthesis of arbitration logic, is a unique beneficialaspect of the present disclosure.

FIG. 5 illustrates one embodiment of a streaming circuit data-path andassociated stall logic, generally designated 500, for the streaminghardware and FIFO interfaces of FIG. 3. The streaming circuit datapathreflects data flows involving two input FIFOs 502, 504, a non-FIFOargument input 506, and two output FIFOs 508 and 510. Plural pipelinestages S0-S3 include registers “reg” at each stage to store data. Validbits, at 512, are provided as inputs to a valid bit chain of registers(such as at 514), and are used to indicate which stages of the pipelinecontain valid data. Generally, a streaming circuit is a straight-linedata-path, without any control flow. We remove any diverging brancheswith if-conversion and back edges by unrolling any internal loops (thoseresiding inside the while loop). Any sub-functions called within thewhile loop are inlined. As needed, operations with side effects (i.e.load/store, FIFO read/write) are predicated so that they trigger for thecorrect if/else conditions.

Further referring to FIG. 5, stall logic 516, ensures that the streamingcircuit hardware can stall appropriately and produce a functionallycorrect result. This directly impacts the QoR (quality-of-result) of thecircuit, as stalls increase circuit latency, and the stall logic affectscircuit area and maximum frequency (Fmax). It is desirable to stall onlywhen necessary, and also to minimize the stall circuitry. For thearchitecture shown in FIG. 5, there are two scenarios wherein thecircuit can stall: 1) when any of the input FIFOs become empty, and 2)when any of the output FIFOs become full. In both cases, a stall doesnot necessarily stall the entire pipeline, but only those pipelinestages which absolutely need to stall. For instance, in the case ofInput FIFO0, its data is required in S0 (pipeline stage 0).Consequently, if this FIFO becomes empty, only S0 stalls. Data fromInput FIFO1 is needed in S1, so if this FIFO is empty, S1 and S0 stall.S0 also needs to stall in this case since its next stage is stalled(allowing it to continue would overwrite valid data in S1). Output FIFO0is written from S2, hence when this FIFO is full, it stalls S2, S1, andS0. When Output FIFO1 is full, the entire pipeline stalls. In general, aFIFO being full/empty stalls the first pipeline stage where its data isread/written from, and all of the prior pipeline stages. Thisarchitecture allows the later pipeline stages to continue making forwardprogress, even when a FIFO becomes empty/full. For instance, when S0stalls due to Input FIFO0 only, S1, S2, S3 can continue. When OutputFIFO0 is full, valid data in S3 can continue and be written to theOutput FIFO1 (given that it is not full).

There are also scenarios where stall circuitry is unnecessary. Forinstance, a constant argument 506 (such as an integer value), is storedin registers when the module starts and remains unchanged during itsexecution. We do not create any stall logic for this argument, as itwill not be overwritten during the execution. This helps to reducecircuit area and the fan-out of the stall signals, which can becomelarge when there are many FIFOs and pipeline stages.

In summary, there are three conditions for a pipeline stage to beenabled: 1) Its valid bit must be asserted to indicate there is validdata, 2) any input FIFOs, from which its data is needed in this or adownstream pipeline stage, must not be empty, and 3) any output FIFOs,which are written to be from this or a downstream pipeline stage, mustnot be full. A FIFO can also be shared between multiple modules throughan arbiter, as was shown in FIGS. 4C and 4D. In such cases, stallingoperates in the same manner, depending on whether it is an input or anoutput FIFO. For an input FIFO, the grant signal from the arbiter isAND′ed with the not_empty FIFO signal, and this output goes to the stalllogic. For an output FIFO, the grant signal is AND′ed with the not_fullFIFO signal. Although FIFO memories are primarily described in thisdisclosure, streaming hardware can also access non-FIFO RAMs, witharbitration and stall logic created as necessary.

Examples

This section presents exemplary streaming benchmarks which use theproducer-consumer pattern with Pthreads, as well as their resultinghardware. Four different applications from various fields are described,including image processing, mathematics/finance and data mining. Foreach benchmark, two versions are created, a pipelined-only version and apipelined-and-replicated version. In the pipelined-only version, thereare one or more functions which are connected together through FIFOs, asin FIG. 4A, but no modules are replicated. For thepipelined-and-replicated version, each benchmark is parallelized withone or more functions (modules) executing on multiple threads, yieldingarchitectures similar to FIGS. 4B and 4C. In both versions, all kernelfunctions are fully pipelined with multiple pipeline stages, andreceive/output new data every clock cycle (initiation interval=1). Eachbenchmark also includes golden inputs and outputs to verify correctness.Each generated circuit was synthesized into the Altera Stratix V FPGA(5SGSMD8K1F40C2) with Quartus 15.0. For performance and area comparison,another commercial HLS tool was also used to synthesize one of thepipelined-only benchmarks, Canny, targeting the Xilinx Virtex 7 FPGA(XC7VX980TFFG1930-2). The other commercial tool does not supportreplicating hardware from software, thus none of thepipelined-and-replicated benchmarks were used for this tool. For boththe disclosed methodology, as well as the other commercial HLS tool, a 3ns (333 MHz) clock period constraint was supplied; this is used by thescheduling stage of HLS to determine which operations can be chainedtogether in a single clock cycle.

Mandelbrot is an iterative mathematical benchmark which generates afractal image. For each pixel in a 512×512 image, it iterativelycomputes whether it is bounded (inside the Mandelbrot set) or divergesto infinity (outside the Mandelbrot set), and displays its coloraccordingly. Computations are done in fixed-point for this benchmark.Each pixel is independent from others, hence this application is easilyparallelizable. In the pipelined-and-replicated version with fourthreads, each thread processes a quadrant of the image. TheBlack-Scholes benchmark estimates the price of European-style options.It uses Monte Carlo simulation to compute the price trajectory for anoption using random numbers. 10,000 simulations are conducted, with 256time steps per simulation. The system diagram for the pipelined-onlyversion is shown in FIG. 6A as a dot graph. This dot graph shows thedifferent modules, as well as the connections between them. Therectangles represent hardware modules, while ovals represent FIFOs. Thisbenchmark consists of three kernel functions, random_init, at 602,random_generate, at 604, and blackscholes, at 606, and the wrapperfunction, option_pricing, at 608, that creates the necessaryintermediate FIFOs, at 610 and 612, between the kernel functions andforks their threads. The random_init and random_generate are animplementation of the Mersenne twister, which is a widely usedpseudo-random number generator. These two kernels were originallywritten in the OpenCL programming language. The init function 602initializes the random number generator in the generate function 604.The blackscholes function 606 uses the random numbers to price aEuropean option using the Black-Scholes formula. In thepipelined-and-replicated version, shown in FIG. 6B, the initializationand the Black-Scholes functions are parallelized: each with fourthreads. For the generate function, its logic is modified to receivefour initializations from the initialization threads, and generate fourrandom numbers concurrently. Each random number is used by anindependent Black-Scholes' thread, with four threads concurrentlycomputing four prices.

The Canny benchmark implements the Canny edge detection algorithm for a512×512 image. Referring now to FIG. 7A, the multi-stage method,generally designated 700, is implemented with four kernel functions,gaussian filter, at 702, sobel filter, at 704, nonmaximum suppression,at 706, and hysteresis, at 708, as well as its wrapper function canny,at 710. Corresponding FIFOs 712, 714 and 716 are disposed between thehardware function modules. The Gaussian filter 702 first smooths theinput image to remove noise. The Sobel filter 704 then finds theintensity gradients. The non-maximum suppressor 706 removes pixels notconsidered to be part of an edge. Then finally, hysteresis 708 finalizesthe edges by suppressing all the other weak edges. Every clock cycle,each kernel receives a new pixel from the previous kernel stage andoutputs a pixel to its next-stage kernel.

In a pipelined-and-replicated version, shown in FIG. 7B, each kernelfunction is parallelized with four threads. The image is divided intofour sections (this time with 128 rows each), with each section to beprocessed by a set of replicated modules (i.e. rows 0-127 are processedby a first set of copies of the Gaussian, Sobel, non-maximumsuppression, and hysteresis kernel modules). The data required by eachset of modules, however, is not completely mutually exclusive, sinceeach kernel uses either a 5×5 or a 3×3 filter. For instance, theGaussian filter, which uses a 5×5 filter, requires up to 2 rows outsideof its assigned section. For example, when working on row 127, values ofpixels in rows 128 and 129 are needed, which belong to the next sectionof rows. To manage this, pixel values for border rows are communicatedbetween adjacent copies of the kernels. Moreover, to minimize stall timearising from needed data in border rows, even-numbered sections(containing rows 0-127 and rows 256-383) proceed from the bottom row tothe top; odd-numbered sections (containing rows 128-255 and rows384-511) proceed from the top row to the bottom.

The k-means benchmark implements the k-means clustering algorithm usedin data mining. It partitions n data points into one of k clustersdefined by centroids. The example has 1,000 data points with fourclusters. The mapReduce programming paradigm is used to implementk-means. A mapper iteratively maps each data point to a cluster, and areducer updates the centroids with each data point. In thepipelined-only version, there is a single mapper and a single reducer.The mapper maps all data points to one of the clusters, and the reducerupdates the centroids for all clusters. In the pipelined-and-replicatedversion, there are four mappers and four reducers. Each mapper maps to asingle cluster, and each reducer updates the centroid for a singlecluster. Each mapper can write to any of the reducers using thearchitecture shown in FIG. 4D.

Table 1 below shows the performance and area results for all thepipelined-only benchmarks compiled with the HLS compiling apparatus andmethods described herein. There are three performance metrics (totalwall-clock time (# cycles×clock period), total number of clock cycles,and Fmax) and four area metrics (number of ALMs, registers, DSPs, andM20Ks). As previously mentioned, all circuits have an II=1, and weregiven a clock period constraint of 3 ns (333 MHz), except forBlack-Scholes, which was given 6 ns (167 MHz). All circuits run roughlywithin +/−10% of the target frequency.

TABLE 1 Performance and area results for pipelined-only benchmarks. FmaxBenchmark Time (us) Cycles (MHz) ALMs Registers DSPs M20K Mandelbrot738.6 262208 355 1101 2746 112 0 Black-Scholes 16736.7 2560714 153 857528963 45 5 Canny 787.95 264752 336 1246 2415 0 10 K-means 70.4 20908 2978499 20681 16 115 Geomean 910.01 246910.57 271.33 3162.11 7938.86 16.858.71

Table 2 shows another commercial HLS tool's result for the Cannybenchmark. The performance results are nearly identical to that of theHLS apparatus and methods described herein, with a total wall-clock timethat is 0.6% higher. Targeting the Virtex 7 FPGA, the area is reportedin terms in LUTs, registers, DSP48s, and 18 KB Block RAMS. The circuitgenerated by the other commercial tool uses 15% more LUTs, but it alsouses 19% less registers and half the number of RAMs. For thisperformance/area comparison, note that there are differences in the FPGAarchitectures and the vendor FPGA CAD tools that can lead to differentresults. For example, although Virtex 7 and Stratix V are fabricated inthe same 28 nm TSMC process, Stratix V uses fracturable 6-LUTs that aremore flexible than Virtex 7's fracturable 6-LUTs. Likewise, one canexpect that two vendor's FPGA CAD tools employ different RTL/logicsynthesis, place-and-route algorithms.

TABLE 2 Performance and area results for Canny benchmark for anothercommercial HLS tool compared to LegUp HLS. Time Fmax Benchmark (us)Cycles (MHz) LUTs Registers DSP48s BRAMs Canny 792.64 264743 334 14271948 0 5 Ratio vs. 1.006 1.00 0.99 1.15 0.81 1 0.5 Table 1 (0.994x)(1.00x)

Table 3 shows the results for the HLS apparatus and methods describedherein, for the pipelined-and-replicated benchmarks. Compared topipelined-only, a geometric mean speedup of 2.8× is observed in terms oftotal wall-clock time. Clock cycle improvement is higher with 3.29×, butFmax drops 15% on average, due to higher resource utilization and morecomplex hardware architectures. On a per benchmark basis, Black-Scholesshows close to linear speedup in wall-clock time: 3.89×. Mandelbrot alsoshows linear speedup in clock cycles, but Fmax drops due to the use of448 DSP blocks. Canny shows 3.74× speedup in clock cycles, and 2.98×speedup in wall-clock time. For k-means, the work load for eachmapper/reducer, and thus the speedup from parallelization, is dependenton the initial coordinates of the centroids and the data points. Eachcentroid was initialized to be at the centre of each quadrant of theentire x/y space, and randomly generate the initial data pointcoordinates. With this, the four mappers/reducers obtain 1.95× speedupin clock cycles and 1.67× in wall-clock time.

TABLE 3 Performance and area results for pipelined and replicatedbenchmarks. Time Fmax Benchmark (us) Cycles (MHz) ALMs Registers DSPsM20K Mandelbrot 231.8 65606 283 4192 11006 448 0 Black-Scholes 4297640252 149 19182 55843 180 20 Canny 264.8 70706 267 7396 14232 48 76K-means 42.2 10712 254 11218 25919 64 120 Geomean 324.81 75102.66 231.259037.68 21820.8 125.46 20.25 Ratio vs. 0.36 0.30 0.85 2.86 2.75 7.452.32 Table 1 (2.80x) (3.29x)

In terms of area, the pipelined-and-replicated benchmarks show averageincreases of 2.86×, 2.75×, 7.45×, and 2.32×, in ALMs, registers, DSPs,and M20Ks, respectively. For DSP usage, all benchmarks increasedlinearly by a factor of four, with the exception of Canny. In thepipelined-only case, the compiler was able to optimize multiplicationswith constant filter coefficients, however this optimization did notoccur in the replicated case, due to the structural code changes,utilizing 48 DSP blocks. For ALMs, the biggest relative increase waswith Canny, which again, for the replicated scenario, the compiler wasnot to optimize the program as effectively as the pipelined-only; and,additional logic and FIFOs were added to allow communication of theborder rows. The smallest relative increase was with k-means, where mostof the ALMs and M20Ks were used by eight dividers, used to average the xand y coordinates for the four centroids. Eight dividers were alsoneeded in the pipelined-only case to meet II=1. In thepipelined-and-replicated case, each reducer handled one cluster, withtwo dividers each, thus the total number of dividers remained the same.

Overall, the disclosed methodology allows the synthesis of a diversespace of streaming hardware architectures that can be pipelined orpipelined and replicated, all from software. For massively parallelapplications, replication of streaming hardware is achieved by creatingmultiple software threads. For the Canny benchmark, the streaminghardware showed very competitive results to that of a commercial tool.The pipelined-only circuits provide high throughput, with an initiationinterval (II)=1, while the pipelined-and-replicated circuits furtherimprove performance, at the expense of FPGA resources.

While many of the embodiments described herein relate to FPGAapplications, the concepts described herein may be applicable to avariety of integrated circuit applications other than FPGAs. Forexample, while RTL that is generated by the described HLS tool may befed to an FPGA synthesis tool to be programmed onto an FPGA, it couldalternatively be fed to an application-specific integrated circuit(ASIC) or other form of IC synthesis tool to create an integratedcircuit chip.

Those skilled in the art will appreciate that the methods, systems, andapparatus described herein allows standard software techniques tospecify pipeline and spatial hardware parallelism. The embodimentsdescribed herein allow software-threaded programs to model streaminghardware with greater accuracy. The closer alignment between softwareand hardware allows a designer to better understand the generatedhardware. It also enables more debugging to happen in software, which ismuch less difficult and time consuming than hardware debugging. UsingPthreads can open up many options, such as creating multiple streamingkernels that work concurrently. Embodiments herein also permit thecreation of circuit architectures that are not feasible to realize inother HLS tools, such as a FIFO with multiple writers, where thearbitration is also automatically generated.

In the foregoing description and in the accompanying drawings, specificterminology and drawing symbols have been set forth to provide athorough understanding of the present invention. In some instances, theterminology and symbols may imply specific details that are not requiredto practice the invention. For example, any of the specific numbers ofbits, signal path widths, signaling or operating frequencies, componentcircuits or devices and the like may be different from those describedabove in alternative embodiments. Also, the interconnection betweencircuit elements or circuit blocks shown or described as multi-conductorsignal links may alternatively be single-conductor signal links, andsingle conductor signal links may alternatively be multi-conductorsignal links. Signals and signaling paths shown or described as beingsingle-ended may also be differential, and vice-versa. Similarly,signals described or depicted as having active-high or active-low logiclevels may have opposite logic levels in alternative embodiments.Component circuitry within integrated circuit devices may be implementedusing field-programmable gate array (FPGA) technology, metal oxidesemiconductor (MOS) technology, bipolar technology or any othertechnology in which logical and analog circuits may be implemented. Withrespect to terminology, a signal is said to be “asserted” when thesignal is driven to a high logic state (or charged to a high logicstate) to indicate a particular condition. Conversely, a signal is saidto be “de-asserted” to indicate that the signal is driven to a low logicstate (discharged) to the state other than the asserted state. A signaldriving circuit is said to “output” a signal to a signal receivingcircuit when the signal driving circuit asserts (or deasserts, ifexplicitly stated or indicated by context) the signal on a signal linecoupled between the signal driving and signal receiving circuits. Asignal line is said to be “activated” when a signal is asserted on thesignal line, and “deactivated” when the signal is deasserted.Additionally, the prefix symbol “/” attached to signal names indicatesthat the signal is an active low signal (i.e., the asserted state is alogic low state). A line over a signal name (e.g., ‘<signal name>’) isalso used to indicate an active low signal. The term “coupled” is usedherein to express a direct connection as well as a connection throughone or more intervening circuits or structures. Integrated circuitdevice “programming” may include, for example and without limitation,loading a control value into a register or other storage circuit withinthe device in response to a host instruction and thus controlling anoperational aspect of the device, establishing a device configuration orcontrolling an operational aspect of the device through a one-timeprogramming operation (e.g., blowing fuses within a configurationcircuit during device production), and/or connecting one or moreselected pins or other contact structures of the device to referencevoltage lines (also referred to as strapping) to establish a particulardevice configuration or operation aspect of the device. The term“exemplary” is used to express an example, not a preference orrequirement.

While the invention has been described with reference to specificembodiments thereof, it will be evident that various modifications andchanges may be made thereto without departing from the broader spiritand scope of the invention. For example, features or aspects of any ofthe embodiments may be applied, at least where practicable, incombination with any other of the embodiments or in place of counterpartfeatures or aspects thereof. Accordingly, the specification and drawingsare to be regarded in an illustrative rather than a restrictive sense.

We claim:
 1. A computer-implemented method for synthesizing a digitalcircuit, comprising: receiving a multi-threaded software program with atleast one Pthread; generating a register-transfer level (RTL) hardwaredescription of the at least one Pthread; and automatically inferringgeneration of parallel hardware RTL in response to receiving the atleast one Pthread.
 2. The computer-implemented method according to claim1, further comprising: receiving a Pthreads application programminginterface (API) to create at least one thread per processing softwarefunction; and generating RTL representing at least one parallel hardwaremodule per processing software function.
 3. The computer-implementedmethod according to claim 1, further comprising: automaticallygenerating RTL representing a number of parallel hardware modules perprocessing software function based on the corresponding number ofPthreads used for the given processing software function.
 4. Thecomputer-implemented method according to claim 3, further comprising:automatically detecting synchronization requirements between themultiple Pthreads; and generating RTL representing synchronization logicand arbitration logic corresponding to the parallel modules.
 5. Anon-transitory computer-readable storage medium, the medium storing asoftware application that when executed by a computer system will causethe computer system to: in response to a command from a client tocommence operations for a digital design flow for a digital system,receive a multi-threaded software program with at least one Pthread;generate a register-transfer level (RTL) hardware description of the atleast one Pthread; and automatically infer generation of parallelhardware RTL in response to receiving the at least one Pthread.
 6. Thenon-transitory computer-readable storage medium of claim 5, furthercomprising a software application component that when executed by acomputer system will cause the computer system to: receive a Pthreadsapplication programming interface (API) to create at least one threadper processing software function; and generate RTL representing at leastone parallel hardware module per processing software function.
 7. Thenon-transitory computer-readable storage medium of claim 6, furthercomprising instructions that when executed by a computer system willcause the computer system to: automatically generate RTL representing anumber of parallel modules per processing software function based on thecorresponding number of Pthreads used for the given processing softwarefunction.
 8. The non-transitory computer-readable storage medium ofclaim 7, further comprising a software application component that whenexecuted by a computer system will cause the computer system to:automatically detect synchronization requirements between the multiplePthreads; and generate RTL representing synchronization logic andarbitration logic corresponding to the parallel modules.
 9. Acomputer-implemented method, comprising: performing high-level synthesis(HLS) for a field-programmable gate array (FPGA) or application-specificintegrated circuit (ASIC) by receiving a multi-threaded software programwith at least one Pthread; generating a register-transfer level (RTL)hardware description of the at least one Pthread; and automaticallyinferring generation of parallel hardware RTL in response to receivingthe at least one Pthread.
 10. The computer-implemented method accordingto claim 9, further comprising: receiving a Pthreads applicationprogramming interface (API) to create at least one thread per processingsoftware function; and generating RTL representing at least one parallelhardware module per processing software function.
 11. Thecomputer-implemented method according to claim 9, further comprising:automatically generating RTL representing a number of parallel modulesper processing software function based on the corresponding number ofPthreads used for the given processing software function.
 12. Thecomputer-implemented method according to claim 11, further comprising:automatically detecting synchronization requirements between themultiple Pthreads; and generating RTL representing synchronization logicand arbitration logic corresponding to the parallel modules.